SkyLi
199 lines
6.9 KiB
C
199 lines
6.9 KiB
C
#ifndef __ICM_42688_H
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#define __ICM_42688_H
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#include "zf_common_headfile.h"
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//==================================================================================================
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// ICM-42688-P 6轴惯性传感器 硬件抽象层
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// 本文件仅负责 SPI 通信、寄存器读写、原始数据获取，不涉及姿态解算
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//==================================================================================================
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// SPI 引脚定义
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#define ICM42688_SPI (SPI_1)
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#define ICM42688_SPI_SPEED (8 * 1000 * 1000)
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#define ICM42688_SPC_PIN (SPI1_SCK_B23)
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#define ICM42688_SDI_PIN (SPI1_MOSI_B22)
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#define ICM42688_SDO_PIN (SPI1_MISO_B21)
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#define ICM42688_CS_PIN (B19)
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#define ICM42688_DELAY_MS(time) (system_delay_ms(time))
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#define ICM42688_CS_LEVEL(level) gpio_set_level(ICM42688_CS_PIN, level)
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// 传感器原始数据（物理单位：加速度 g，角速度 °/s，传感器坐标系）
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typedef struct {
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float accel_x, accel_y, accel_z;
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float gyro_x, gyro_y, gyro_z;
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} icm42688_data_t;
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// 加速度计量程
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enum icm42688_afs {
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ICM42688_AFS_16G,
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ICM42688_AFS_8G,
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ICM42688_AFS_4G,
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ICM42688_AFS_2G,
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};
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// 加速度计输出速率 (ODR)
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enum icm42688_aodr {
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ICM42688_AODR_32000HZ,
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ICM42688_AODR_16000HZ,
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ICM42688_AODR_8000HZ,
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ICM42688_AODR_4000HZ,
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ICM42688_AODR_2000HZ,
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ICM42688_AODR_1000HZ,
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ICM42688_AODR_200HZ,
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ICM42688_AODR_100HZ,
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ICM42688_AODR_50HZ,
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ICM42688_AODR_25HZ,
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ICM42688_AODR_12_5HZ,
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ICM42688_AODR_6_25HZ,
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ICM42688_AODR_3_125HZ,
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ICM42688_AODR_1_5625HZ,
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ICM42688_AODR_500HZ,
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};
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// 陀螺仪量程
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enum icm42688_gfs {
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ICM42688_GFS_2000DPS,
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ICM42688_GFS_1000DPS,
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ICM42688_GFS_500DPS,
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ICM42688_GFS_250DPS,
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ICM42688_GFS_125DPS,
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ICM42688_GFS_62_5DPS,
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ICM42688_GFS_31_25DPS,
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ICM42688_GFS_15_625DPS,
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};
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// 陀螺仪输出速率 (ODR)
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enum icm42688_godr {
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ICM42688_GODR_32000HZ,
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ICM42688_GODR_16000HZ,
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ICM42688_GODR_8000HZ,
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ICM42688_GODR_4000HZ,
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ICM42688_GODR_2000HZ,
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ICM42688_GODR_1000HZ,
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ICM42688_GODR_200HZ,
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ICM42688_GODR_100HZ,
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ICM42688_GODR_50HZ,
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ICM42688_GODR_25HZ,
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ICM42688_GODR_12_5HZ,
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ICM42688_GODR_X0HZ,
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ICM42688_GODR_X1HZ,
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ICM42688_GODR_X2HZ,
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ICM42688_GODR_500HZ,
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};
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//==================================================================================================
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// 公开接口（由 IMU 层调用，用户一般不直接使用）
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//==================================================================================================
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/** @brief 初始化 ICM-42688（SPI 配置 + 寄存器设置 + 自检）
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* 由 imu_init() 内部调用，用户无需单独调用
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*/
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void icm42688_init(void);
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/** @brief 读取加速度和角速度（物理单位，传感器坐标系）
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* @param data 输出结构体指针
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* 一次 12 字节 SPI 突发读取，节省通信时间
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*/
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void icm42688_read_all(icm42688_data_t *data);
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/** @brief 读取陀螺仪原始 ADC 值（不含比例换算）
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* @param gx/gy/gz 输出 int16 原始值指针
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* 供校准函数使用
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*/
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void icm42688_read_gyro_raw(int16_t *gx, int16_t *gy, int16_t *gz);
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/** @brief 返回当前陀螺仪比例系数 (LSB → °/s)
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* 供校准函数计算零偏
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*/
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float icm42688_gyro_scale(void);
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//==================================================================================================
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// 寄存器地址
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//==================================================================================================
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// Bank 0
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#define ICM42688_DEVICE_CONFIG 0x11
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#define ICM42688_DRIVE_CONFIG 0x13
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#define ICM42688_INT_CONFIG 0x14
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#define ICM42688_FIFO_CONFIG 0x16
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#define ICM42688_TEMP_DATA1 0x1D
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#define ICM42688_TEMP_DATA0 0x1E
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#define ICM42688_ACCEL_DATA_X1 0x1F
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#define ICM42688_ACCEL_DATA_X0 0x20
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#define ICM42688_ACCEL_DATA_Y1 0x21
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#define ICM42688_ACCEL_DATA_Y0 0x22
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#define ICM42688_ACCEL_DATA_Z1 0x23
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#define ICM42688_ACCEL_DATA_Z0 0x24
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#define ICM42688_GYRO_DATA_X1 0x25
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#define ICM42688_GYRO_DATA_X0 0x26
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#define ICM42688_GYRO_DATA_Y1 0x27
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#define ICM42688_GYRO_DATA_Y0 0x28
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#define ICM42688_GYRO_DATA_Z1 0x29
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#define ICM42688_GYRO_DATA_Z0 0x2A
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#define ICM42688_TMST_FSYNCH 0x2B
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#define ICM42688_TMST_FSYNCL 0x2C
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#define ICM42688_INT_STATUS 0x2D
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#define ICM42688_FIFO_COUNTH 0x2E
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#define ICM42688_FIFO_COUNTL 0x2F
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#define ICM42688_FIFO_DATA 0x30
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#define ICM42688_APEX_DATA0 0x31
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#define ICM42688_APEX_DATA1 0x32
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#define ICM42688_APEX_DATA2 0x33
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#define ICM42688_APEX_DATA3 0x34
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#define ICM42688_APEX_DATA4 0x35
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#define ICM42688_APEX_DATA5 0x36
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#define ICM42688_INT_STATUS2 0x37
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#define ICM42688_INT_STATUS3 0x38
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#define ICM42688_SIGNAL_PATH_RESET 0x4B
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#define ICM42688_INTF_CONFIG0 0x4C
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#define ICM42688_INTF_CONFIG1 0x4D
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#define ICM42688_PWR_MGMT0 0x4E
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#define ICM42688_GYRO_CONFIG0 0x4F
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#define ICM42688_ACCEL_CONFIG0 0x50
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#define ICM42688_GYRO_CONFIG1 0x51
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#define ICM42688_GYRO_ACCEL_CONFIG0 0x52
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#define ICM42688_ACCEL_CONFIG1 0x53
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#define ICM42688_TMST_CONFIG 0x54
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#define ICM42688_APEX_CONFIG0 0x56
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#define ICM42688_SMD_CONFIG 0x57
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#define ICM42688_FIFO_CONFIG1 0x5F
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#define ICM42688_FIFO_CONFIG2 0x60
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#define ICM42688_FIFO_CONFIG3 0x61
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#define ICM42688_FSYNC_CONFIG 0x62
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#define ICM42688_INT_CONFIG0 0x63
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#define ICM42688_INT_CONFIG1 0x64
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#define ICM42688_INT_SOURCE0 0x65
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#define ICM42688_INT_SOURCE1 0x66
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#define ICM42688_INT_SOURCE3 0x68
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#define ICM42688_INT_SOURCE4 0x69
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#define ICM42688_FIFO_LOST_PKT0 0x6C
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#define ICM42688_FIFO_LOST_PKT1 0x6D
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#define ICM42688_SELF_TEST_CONFIG 0x70
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#define ICM42688_WHO_AM_I 0x75
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#define ICM42688_REG_BANK_SEL 0x76
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// Bank 1
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#define ICM42688_SENSOR_CONFIG0 0x03
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#define ICM42688_GYRO_CONFIG_STATIC2 0x0B
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#define ICM42688_GYRO_CONFIG_STATIC3 0x0C
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#define ICM42688_GYRO_CONFIG_STATIC4 0x0D
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#define ICM42688_GYRO_CONFIG_STATIC5 0x0E
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#define ICM42688_GYRO_CONFIG_STATIC6 0x0F
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#define ICM42688_GYRO_CONFIG_STATIC7 0x10
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#define ICM42688_GYRO_CONFIG_STATIC8 0x11
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#define ICM42688_GYRO_CONFIG_STATIC9 0x12
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#define ICM42688_GYRO_CONFIG_STATIC10 0x13
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#define ICM42688_XG_ST_DATA 0x5F
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#define ICM42688_YG_ST_DATA 0x60
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#define ICM42688_ZG_ST_DATA 0x61
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#define ICM42688_TMSTVAL0 0x62
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#define ICM42688_TMSTVAL1 0x63
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#define ICM42688_TMSTVAL2 0x64
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#define ICM42688_INTF_CONFIG4 0x7A
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#define ICM42688_INTF_CONFIG5 0x7B
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#define ICM42688_INTF_CONFIG6 0x7C
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#endif
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